Flat systems, flat information and an application to attitude control

P. S. Pereira Da Silva, F. S. Freitas, Pablo Raul Yanyachi Aco Cardenas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In this work we consider a class of nonlinear flat systems evolving on the tangent bundle TG of a Lie-Group G. For this class of systems every set of local coordinate functions is a local flat output. As a consequence, the canonical projection of TG on G acts as a global flat output, called flat information. It is shown that a stabilization control law for such a system induces canonically a control law for tracking assintotically any desired trajectory on G. It is show that ε(t) = g(t)h-1(t) is a 'global' tracking error information, where g(t) is the desired trajectory on G and g(t) is the actual position. An application of these results to attitude control is presented. Based on a robust (nonlinearizing) global stabilization strategy, a control law for tracking assintotically a desired trajectory on SO(3) is designed. Some computer simulations of the closed loop system are presented.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 1999 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3202-3207
Number of pages6
ISBN (Electronic)9783952417355
DOIs
StatePublished - 24 Mar 2015
Externally publishedYes
Event1999 European Control Conference, ECC 1999 - Karlsruhe, Germany
Duration: 31 Aug 19993 Sep 1999

Publication series

NameEuropean Control Conference, ECC 1999 - Conference Proceedings

Conference

Conference1999 European Control Conference, ECC 1999
Country/TerritoryGermany
CityKarlsruhe
Period31/08/993/09/99

Bibliographical note

Publisher Copyright:
© 1999 EUCA.

Keywords

  • attitude control
  • flatness
  • Lie-Groups
  • Lyapunov stability
  • Nonlinear systems
  • tracking

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